This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this goal, we consider the invariant formation problem and introduce a distributed control architecture that allows capable agents to spatially alter the resulting formation’s density and orientation without requiring global information exchange ability. Efficacy of the proposed approach is illustrated on numerical examples.
- Dynamic Systems and Control Division
Control of Multiagent Formations: A Multiplex Information Networks-Based Approach
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Tran, D, & Yucelen, T. "Control of Multiagent Formations: A Multiplex Information Networks-Based Approach." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T37A002. ASME. https://doi.org/10.1115/DSCC2015-9644
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